This package provides a simulation environment for Andino in Nvidia's Isaac sim integrated with ROS 2 and powered by Nvidia Omniverse.

• ROS 2: Humble Hawksbill
• OS:
  • Ubuntu 22.04 Jammy Jellyfish
• Isaac Sim 2023.1.1

Clone this repository into the src folder of a ROS2 workspace

git clone https://github.com/ekumenlabs/andino_isaac.git

• Configure and pull the Nvidia Isaac Sim Docker container, follow steps 1 to 6 of the Nvidia instructions.
• Build the Isaac/ROS 2 container:

docker pull nvcr.io/nvidia/isaac-sim:2023.1.1
./docker/build.sh

• Run the container and continue with the ROS 2 build

./docker/run_isaac_docker.sh

The package contains some dependencies that must be installed in order to build it:

rosdep install --from-paths src -i -y

Then build the package and source the install workspace. To do so run the following commands:

colcon build
source install/setup.bash

Launch the simulation with the provided launchfile

ros2 launch andino_isaac andino_isaac.launch.py

ros2 run teleop_twist_keyboard teleop_twist_keyboard